EP4198458B1 - Vorrichtung und verfahren zur bestimmung einer winkelposition eines induktiven positionssensors - Google Patents

Vorrichtung und verfahren zur bestimmung einer winkelposition eines induktiven positionssensors Download PDF

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EP4198458B1
EP4198458B1 EP21215974.3A EP21215974A EP4198458B1 EP 4198458 B1 EP4198458 B1 EP 4198458B1 EP 21215974 A EP21215974 A EP 21215974A EP 4198458 B1 EP4198458 B1 EP 4198458B1
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signals
value
signal
clipped
sum
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EP4198458A1 (de
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Eric Sachse
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Melexis Technologies SA
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Melexis Technologies SA
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Priority to US18/080,370 priority patent/US11614344B1/en
Priority to CN202211640667.9A priority patent/CN116294963A/zh
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2053—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable non-ferromagnetic conductive element
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G01B21/042—Calibration or calibration artifacts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/02—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for altering or correcting the law of variation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2046—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable ferromagnetic element, e.g. a core
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/2448—Correction of gain, threshold, offset or phase control

Definitions

  • the present invention relates in general to the field of inductive angular position sensor systems, and in particular to a method of determining an angular position of an inductive angular position sensor system, and a sensor device configured for applying such a method.
  • inductive angle sensors are known in the art, for example for motor control purposes. They typically comprise a printed circuit board with an excitation coil (also known as “transmitter coil”) and multiple detection coils (also known as “receiver coils”).
  • the transmitter coil and the receiving coils are inductively coupled to one another.
  • the amount of coupling may be influenced by a coupling element (also known as “target”) movably mounted in the vicinity of the transmitter and receiver coils.
  • the excitation coil may for example be excited with an AC signal, which induces eddy currents in the target.
  • the receiving coils will generate signals caused by the eddy currents in the target and the current in the transmitting coil.
  • the signals from the receiving coils are analysed in an electronic circuit, and an angular position can be determined based on these signals in known manners.
  • the shape and size and number of coils may vary, as well as the shape and size of the target.
  • the present invention is related primarily to inductive sensor systems that provide a three-phase signal, i.e. provide three sinusoidal signals which are substantially 120° phase shifted, but can also be used for two-phase signals, i.e. systems that provide two sinusoidal signals which are substantially 90° phase shifted.
  • these two or three signals are perfect sine signals, ideally they have exactly the same amplitude, ideally the amplitude of the signals is constant over time, ideally the signals have a DC-value which is exactly equal to zero, and ideally the amplitude(s) and the DC-value(s) are insensitive to the presence of metal objects in the vicinity of the sensor. In practice, however, this is not the case, and the amplitudes may vary over time and be different from each other, and the DC-values may vary over time and be different from zero.
  • EP3885709(A1 ) describes a digital phase tracking filter for position sensing.
  • It is also an object of embodiments of the present invention to provide an angular position sensor system comprising such an angular sensor device, configured for performing such a method, except the mechanical movement of the target.
  • the present invention provides a method of determining an angular position of a target of an inductive angular position sensor system, wherein the inductive angular position sensor system further comprises: a substrate with at least one transmitter coil and a plurality of receiver coils, and a target which is movable relative to said substrate, the method comprising: a) receiving a plurality of input signals from said receiver coils; b) demodulating and optionally pairwise subtracting said plurality of input signals, and providing a plurality of sinusoidal baseband signals, each having a respective amplitude and a respective DC-offset; c) digitizing said plurality of sinusoidal baseband signals or digitizing pairwise difference signals derived therefrom, and providing a set of digital signals; d) reducing or substantially removing the respective DC-offset-value for each of the digital signals in an iterative manner, thereby providing a plurality of DC-compensated signals; e) determining an angular position of the target based on the DC compensate
  • the DC offset is determined iteratively, because this allows to gradually increase or decrease the DC offset value, which acts like a kind of low-pass filtering.
  • symmetrical range is meant that a range that extends from a negative value to a positive value, both having the same absolute value, thus the value of zero being located in the middle of the symmetrical range.
  • the method further comprises: providing an AC signal for exciting said transmitter coil; and the demodulation of step b) is performed in synchronism with said AC signal.
  • step b) comprises: converting the three-phase signals to quadrature signals (e.g. using a Clarke transform); and determining the angular position using an arctangent function of a ratio of the quadrature signals.
  • step c) comprises: digitizing said signals using an analog-to-digital convertor that provides at least 12 bits; and wherein step iii) comprises: providing the clipped values with at most 8 bits, or at most 5 bits.
  • step c) comprises: digitizing said signals using an analog-to-digital convertor that provides at least 12 bits; and step iii) comprises: providing the clipped values with at least 2 bits, or at least 3 bits, or at least 4 bits.
  • the clipped signal can take one of the following values: -1, 0, +1.
  • the clipped signal can take one of the following values: -3, -2, -1, 0, +1, +2, +3, etc.
  • an amplitude of the symmetrical range is a value from about 75% to about 85% of the nominal or average value of the signal amplitude.
  • the amplitude of the sinusoidal signals varied over time by about ⁇ 10% around an envisioned amplitude, or nominal amplitude. It was found that, by clipping the signals to a symmetrical range such that about 20% of the positive part and the upper and lower part of the signal to a range which is smaller than (twice) the maximum amplitude of the sinusoidal signal, a top part and a bottom part are always "cut away", and it was found that the resulting DC-value was less dependent on the varying amplitude.
  • step iii) further comprises: dynamically adjusting the symmetrical range such that an amplitude of the symmetrical range is a value from about 75% to about 85% of the nominal or average value of the signal amplitude.
  • the minimum and maximum value of the symmetrical range is dynamically adjusted such that it corresponds to about 80% of the nominal or (short term) average value of the amplitude.
  • the method further comprises estimating or calculating an angular speed of the target.
  • step iii) comprises: dynamically adjusting the number of bits of the clipped values depending on the estimated speed.
  • the speed is compared to one threshold value, and if the actual speed is lower than the threshold, the number of bits is reduced from 12 to 8, and if the speed is higher than the threshold, the number of bits is reduced from 12 to 5.
  • the DC-correction value can be determined with a higher number of bits when the target is rotating at lower speed (resulting in a more accurate DC offset correction); while the risk of "accumulator overflow" can be reduced when the target is rotating at higher speed.
  • the moment of start and the moment of end of each respective period is determined based on the moment at which the respective DC-corrected signal crosses the respective DC offset value.
  • the present invention also provides an inductive position sensor device for use in an inductive angular position sensor system, wherein the inductive angular position sensor system further comprises a substrate with at least one transmitter coil and a plurality of receiver coils, and a target which is movable relative to said substrate; wherein the inductive position sensor device comprises: a plurality of inputs (e.g. input ports or input nodes) for receiving a plurality of input signals (e.g. 50, 51, S2) obtained from said plurality of receiver coils; a demodulation circuit for demodulating and optionally pairwise subtracting said plurality of input signals (e.g. S0, S1, S2), and providing a plurality of sinusoidal signals (e.g.
  • a plurality of inputs e.g. input ports or input nodes
  • a demodulation circuit for demodulating and optionally pairwise subtracting said plurality of input signals (e.g. S0, S1, S2), and providing a plurality of sinusoidal signals (e.g.
  • In0, In1, In2) At least one analog-to-digital convertor for digitizing said plurality of sinusoidal baseband signals (e.g. In0, In1, In2) or for digitizing pairwise difference signals (e.g. D01, D12, D20) derived therefrom, and providing a set of digital signals (e.g. X0, X1, X2); a digital processing circuit configured for performing step d) and e) of a method according to the first aspect.
  • analog-to-digital convertor for digitizing said plurality of sinusoidal baseband signals (e.g. In0, In1, In2) or for digitizing pairwise difference signals (e.g. D01, D12, D20) derived therefrom, and providing a set of digital signals (e.g. X0, X1, X2)
  • a digital processing circuit configured for performing step d) and e) of a method according to the first aspect.
  • the present invention also provides an inductive position sensor system comprising: an inductive position sensor device according to the second aspect; a substrate with at least one transmitter coil and a plurality of receiver coils; a target which is movable relative to said substrate.
  • the present invention relates in general to inductive angular position sensor systems.
  • they typically comprise a substrate with a (or at least one) excitation coil (also known as “transmitter coil”) and a plurality of detection coils (also known as “receiver coils”), e.g. two receiver coils or three receiver coils, which are inductively coupled to the transmitter coil.
  • the amount of coupling may be influenced by a coupling element (also known as "target") mounted in the vicinity of the transmitter and receiver coils.
  • the excitation coil is typically excited with an AC signal, which induces eddy currents in the target.
  • the receiving coils will generate signals (e.g. voltage signals) caused by the eddy currents in the target and by the current in the transmitting coil.
  • the signals from the receiving coils are analysed in an electronic circuit, and an angular position can be determined based on these signals.
  • the present invention will be illustrated and explained mainly for an inductive angular sensor system having three receiver coils providing three modulated signals, from which three baseband signals can be derived which are 120° shifted electrically, but the present is not limited thereto, and also works for an inductive angular sensor system having only two receiver coils, providing only two modulated signals, from which two baseband signals can be derived (typically referred to as I and Q) which are 90° shifted electrically.
  • FIG. 1 shows a first example of an inductive sensor arrangement comprising: a substrate 101 (e.g. a printed circuit board, PCB) comprising a transmitter coil and a plurality of receiver coils; and a target 102 (e.g. a metal target) rotatable relative to said substrate.
  • a substrate 101 e.g. a printed circuit board, PCB
  • a target 102 e.g. a metal target
  • the transmitter coil Tx, and the receiver coils Rx1, Rx2, Rx3 are also illustrated in FIG. 2 .
  • the transmitter coil Tx describes a full circle (also referred to as an O-shape), but the present invention is not limited thereto, and also works for so called "C-shaped" coils.
  • FIG. 3 shows a schematic block-diagram of an inductive angular position sensor system 300, comprising: an inductive sensor arrangement 310 comprising: a substrate (not explicitly shown in FIG. 3 ) with a coil system 311 comprising at least one transmitter coil TX and three receiver coils Rx1, Rx2, Rx3, and a target 312 which is rotatable relative to said coil system 311.
  • an inductive sensor arrangement 310 comprising: a substrate (not explicitly shown in FIG. 3 ) with a coil system 311 comprising at least one transmitter coil TX and three receiver coils Rx1, Rx2, Rx3, and a target 312 which is rotatable relative to said coil system 311.
  • the sensor system 300 further comprises a sensor device 320 connected at least to said receiver coils Rx1, Rx2, Rx3 for receiving and processing the received signals.
  • the sensor device 320 is preferably also connected to the transmitter coil TX, and is preferably further configured for exciting the transmitter coil with an AC signal.
  • the sensor system 300 may have an oscillator circuit 321, and the transmitter coil TX may be part of that oscillator circuit, but this is not absolutely required, and the excitation may also be performed by a separate circuit, e.g. by a separate chip.
  • the transmitter coil Tx may be excited at a frequency of about 1 MHz to about 20 MHz.
  • the excitation frequency may be higher than, or lower than, or substantially equal to the resonance frequency of the oscillator circuit.
  • the sensor device 320 is configured for receiving signals from the receiver coils Rx1, Rx2, Rx3, and optionally for amplifying these signals using amplifier 322, and for demodulating these signals in demodulator 323, yielding three baseband signals In0, In1, In2.
  • the demodulation may comprise synchronous rectification and low-pass filtering. These baseband signals are then "offset compensated" in an iterative manner, as will be described further (see e.g. FIG. 7 to FIG. 9 ), by digitizing the signals, clipping the signals, and by calculating a first sum and a second sum of the clipped signals, and by calculating a DC-correction value based on the first and second sum for each of the sinusoidal signals individually. This is the main aspect of the present invention.
  • the angle can then be computed from these offset-compensated signals, for example, using the "Clarke transformation" to convert the three-phase signals into quadrature signals, on which an arctangent operation can be performed.
  • the sensor device 320 may perform the Clarke Transformation, and provides a sine and cosine signal to an external processor, e.g. an ECU (not shown), which can calculate the angle therefrom.
  • an external processor e.g. an ECU (not shown)
  • the angle is calculated inside the sensor device 320, and may be provided to the external processor.
  • the architecture shown in FIG. 3 is only an example of how the signals obtained from the receiver coils can be processed to obtain a plurality of sinusoidal baseband signals, and other architectures may also be used.
  • the main focus of the present invention is not the demodulation aspect, but rather to provide a technique to reduce the offset of these baseband signals.
  • a method of offset-compensation in a static manner, based on calibration values determined during a calibration procedure is known in the prior art, e.g. from EP patent application EP21157650.9 filed on 17 February 2021 , but such method is not ideal when the amplitudes and/or the DC offsets may vary (or "drift") over time, e.g. due to temperature variations or proximity of metal objects or the like.
  • the inventors of the present invention had the task of finding a method which is less sensitive to amplitude variations, in particular, amplitude variations of about ⁇ 10% about a nominal amplitude value.
  • FIG. 4A shows a graph with three baseband signals In0, In1, In2, as may be obtained by demodulating the signals S0, S1, S2 obtained from the receiver coils Rx1, Rx2, Rx3 in an ideal situation, i.e. with identical amplitudes and with zero DC-offset.
  • the values on the vertical axis are arbitrary values. In fact, a zero-offset is not absolutely required, and in case the signals have a same offset, such offset can easily be removed by calculating pairwise difference signals (see FIG. 4C ).
  • FIG. 4B shows a set of three equations representing these ideal (or almost ideal) waveforms, each having an amplitude Arotor/V3, and a zero offset, and the signals being 120° phase shifted electrically with respect to each other.
  • the angle ⁇ represents the angular position of the target relative to the substrate.
  • the DC-offset value may be equal to zero, due to the use of anti-winded receiver coils, or due to the demodulation circuit, but that is not absolutely required for the invention to work.
  • a non-zero DC-offset value can be eliminated by determining pairwise differences between the three baseband signals In0, In1, In2, as illustrated for example in FIG. 4C .
  • Another advantage of using difference signals is that the amplitudes of the difference signals are larger than the amplitudes of the baseband signals, thus increasing the signal-to-noise ratio.
  • FIG. 5A shows a graph with three baseband signals In0, In1, In2, as may be obtained by demodulating the signals S0, S1, S2 obtained from the receiver coils Rx1, Rx2, Rx3 in a practical situation.
  • FIG. 5B shows a set of three equations representing these waveforms, each having a respective amplitude A0, A1, A2, and an individual offset Aasym0, Aasym1, Aasym2, and the signals being 120° phase shifted electrically with respect to each other.
  • the angle ⁇ represents the angular position of the target relative to the substrate.
  • Aasym0 was chosen equal to Arotor*0.1, but of course, this is only an example.
  • FIG. 5C shows a graph with pairwise difference signals in a practical situation. As can be seen, the amplitudes of these signals are not the same, and the DC-offsets are non-zero.
  • the above mentioned problem may then be reformulated as "how to determine the angular position of the target of the inductive sensor arrangement, based on the non-ideal signals In0, In1, In2 of FIG. 5A or based on the non-ideal signals D01, D12, D20 of FIG. 5C .
  • FIG. 6 shows a flow-chart of a method 600 of determining an angular position of a target of an inductive angular position sensor, proposed by the present invention.
  • the method comprises the following steps:
  • the DC-offset is adjusted in an iterative manner, e.g. each period of each respective signal, rather than being a fixed adjustment, which was determined during a calibration procedure.
  • the DC-off-set-adjustment is based on a clipped version of the DC-compensated signals, more in particular, based on a first sum and a second sum of samples thereof, summed over one period of the respective signals.
  • FIG. 7 shows a flow-chart of a possible algorithm 700 to implement step d) of FIG. 6 , as proposed by the present invention.
  • This algorithm can be considered a method 700 of reducing a DC-offset value of a digital sinusoidal signal, applied to each of the sinusoidal signals.
  • the method uses three combiners (e.g. a summation or subtraction block) 831a, 831b, 831c (see FIG. 8 ) and three DC correction values DC0, DC1, DC2 (see FIG. 8 ) which are iteratively updated.
  • the method 700 comprises the steps of:
  • FIG. 8 shows a data-flow diagram for illustrating the method of FIG. 7 .
  • This data-flow is performed in the digital domain. It may be implemented in a hardware circuit, or it may be implemented in software. In the inductive angular sensor circuit of FIG. 3 , this algorithm is preferably implemented in the digital processing circuit 326. It is an advantage that this algorithm can easily be implemented in software, using simple algebraic functions like a summation, a subtraction, and a division.
  • “Clipping” can be performed by comparing the value with an upper and a lower threshold, and if the value is larger than the upper threshold, replacing the value with the upper threshold, if the value is smaller than the lower threshold, replacing the value with the lower threshold, and if the value is between the upper and lower threshold, maintaining the value.
  • Taking an absolute value is also a simple function, which can be implemented by checking the sign of the value, and if the sign is negative, changing the sign of the value.
  • the signal is clipped to a symmetrical range, meaning that the absolute value of the upper threshold is the same as the absolute value of the lower threshold (e.g. +70 and -70, or +130 and -130, or whichever threshold value is used for clipping).
  • the input value may be clipped to the range from -136 to +136.
  • the clipped signals may have less bits than the digital signals X0[N:0], X1[N:0], X2[N:0]. It is one of the insights of the present invention, that the DC-correction value can be quite accurate, even when only a small number of bits are used.
  • the clipped signals may have only 2 bits, and assume one of the following three values: -1, 0 and +1.
  • the clipped signals may have only 3 bits, and assume one of the following seven values: -3, -2, -1, 0, +1, +2, +3.
  • FIG. 9A shows an example of how a DC-offset-correction value can be calculated, using the algorithm illustrated in FIG. 7 .
  • the digital sinusoidal signal has a real DC-value indicated by "real DC", but it is assumed that the digital values are offset from zero.
  • the digital signal is clipped to one of three possible values: -1, 0, +1, as indicated by the black circles. It is assumed that the DC correction value is initialized to DC0_init being zero in this example (but another value could also be used).
  • a first sum s0 is calculated as the sum of the clipped values over one period of the sinusoidal signal, in this example yielding a value of +2.
  • a second sum a0 is calculated as the sum of the absolute values of these values over said period, in this example yielding a value of +10.
  • the DC correction value is then updated as a function of the first sum s0 and the second sum a0, for example by adding (a constant) K times the first sum divided by the second sum.
  • DC0 next iteration : DC0 current value + K * s0 / a0
  • DC0 + K * s0 / a0 DC0 + K * s0 / a0
  • DC0 is the DC correction value of the first digital signal
  • K is a predefined constant (in the example equal to 0.3, but of course, another value can be chosen as well)
  • s0 is the first sum
  • a0 is the second sum, calculated over one period of the first clipped signal (e.g. X0sat in FIG. 8 ).
  • the DC correction value is increased from 0 to 0.06 in the first iteration.
  • a new DC correction value may be updated each period.
  • the period of the first clipped signal, and the second clipped signal and the third clipped signal are typically approximately 120° phase shifted.
  • the number of samples of this phase shift depends on the speed of the target.
  • the proposed technique is highly independent of the amplitude of the sinusoidal signals, and the technique works even if the signals are clipped to only two bits. But in was also found that a more stable DC value is obtained when slightly more bits are used, e.g. at least three or four bits, and when the peak-to-peak value of the clipped range is roughly equal to about 80% of the peak-to-peak value of the sinusoidal signal, or stated in other words: when the positive threshold is roughly equal to 80% of the nominal amplitude of the sinusoidal signal.
  • FIG. 9B shows another example of how the DC correction value can be updated, using the algorithm illustrated in FIG. 7 .
  • the digital signal is clipped to 3 bits, and the peak-to-peak value of the clipped range is approximately equal to 75% of the peak-to-peak range of the sinusoidal signal.
  • the value of K was set to 0.4, and the DC correction value was increased from 0 to 0.09 in the first iteration.

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Claims (14)

  1. Verfahren (600) zum Ermitteln einer Winkelposition (θ) eines Ziels (102; 312) eines induktiven Winkelpositionssensorsystems (300), wobei das induktive Winkelpositionssensorsystem ferner umfasst:
    ein Substrat mit zumindest einer Senderspule (TX) und einer Vielzahl von Empfängerspulen (RX1, RX2, RX3), und ein Ziel, das in Bezug auf das Substrat beweglich ist, wobei das Verfahren umfasst:
    a) Empfangen (601) einer Vielzahl von Eingangssignalen (S0, S1, S2) von den Empfängerspulen (RX1, RX2, RX3);
    b) Demodulieren (602) und optionales paarweises Subtrahieren der Vielzahl von Eingangssignalen (S0, S1, S2) und Bereitstellen einer Vielzahl von sinusförmigen Basisbandsignalen (In0, In1, In2), die jeweils eine entsprechende Amplitude und einen entsprechenden DC-Offset aufweisen;
    c) Digitalisieren (603) der Vielzahl von sinusförmigen Basisbandsignalen (In0, In1, In2) oder Digitalisieren von daraus abgeleiteten paarweisen Differenzsignalen (D01, D12, D20) und Bereitstellen eines Satzes von digitalen Signalen (X0, X1, X2);
    d) Verringern (604) des jeweiligen DC-Offset-Wertes (DCO, DC1, DC2) für jedes der digitalen Signale in einer iterativen Weise, wodurch eine Vielzahl von DC-kompensierten Signalen bereitgestellt wird;
    e) Ermitteln (605) einer Winkelposition des Ziels basierend auf den DC-kompensierten Signalen;
    dadurch gekennzeichnet, dass Schritt d) umfasst:
    i) Initialisieren (701) eines DC-Korrekturwertes;
    ii) Subtrahieren (702) des DC-Korrekturwertes von dem digitalen Signal, um ein DCverschobenes Signal zu erhalten;
    iii) Abschneiden (703) des DC-verschobenen Signals, um abgeschnittene Signale zu erhalten;
    iv) Berechnen (704) einer ersten Summe durch Summieren der Werte des abgeschnittene Signals über eine Periode;
    v) Berechnen (705) einer zweiten Summe durch Summieren der absoluten Werte des abgeschnittene Signals über die Periode;
    vi) Anpassen (706) des DC-Korrekturwertes durch eine Funktion des Verhältnisses zwischen der ersten Summe und der zweiten Summe.
  2. Verfahren nach Anspruch 1, wobei Schritt d) umfasst:
    i) Initialisieren (701) jedes DC-Offsetwertes (DCO, DC1, DC2) auf einen vordefinierten Wert;
    und wiederholtes Ausführen der folgenden Schritte:
    ii) Subtrahieren (702) des DC-Korrekturwertes (DCO, DC1, DC2) von dem jeweiligen digitalen Signal (X0, X1, X2), wodurch DC-verschobene Signale erhalten werden;
    iii) Abschneiden (703) der DC-verschobenen Signale auf einen vordefinierten symmetrischen Bereich, wodurch abgeschnittene Signale erhalten werden;
    iv) Berechnen (704) des ersten Summenwertes (s0, s1, s2) durch Summieren der Werte des abgeschnittene Signals über eine Periode des jeweiligen Signals;
    v) Berechnen (705) des zweiten Summenwertes (a0, a1, a2) durch Summieren der Absolutwerte des abgeschnittene Signals über die genannte eine Periode;
    vi) Aktualisieren (706) der DC-Korrekturwerte (DCO, DC1, DC2) unter Verwendung der folgenden Formeln: DC0 : = DC0 + K * s0 / a0 ;
    Figure imgb0008
     DC1 : = DC1 + K * s1 / a1 ;
    Figure imgb0009
     DC2 : = DC2 + K * s2 / a2 ;
    Figure imgb0010
    wobei ":=" ein Zuweisungsoperator ist, s0, s1, s2 die ersten Summenwerte sind; a0, a1, a2 die zweiten Summenwerte sind; und K eine vordefinierte Konstante ist;
    und Zurückkehren zu Schritt ii).
  3. Verfahren nach einem der vorhergehenden Ansprüche,
    das ferner umfasst: Bereitstellen eines AC-Signals zum Erregen der Senderspule (TX); und wobei die Demodulation von Schritt b) synchron mit dem AC-Signal durchgeführt wird.
  4. Verfahren nach einem der vorhergehenden Ansprüche,
    wobei die Vielzahl der sinusförmigen Basisbandsignale (In0, In1, In2) oder die Vielzahl der paarweisen Differenzsignale (D01, D12, D20) Dreiphasensignale (S0, S1, S2) sind.
  5. Verfahren nach Anspruch 4, wobei Schritt b) umfasst:
    - Umwandeln der Dreiphasensignale in Quadratursignale;
    - Ermitteln der Winkelposition unter Verwendung einer Arkustangensfunktion eines Verhältnisses der Quadratursignale.
  6. Verfahren nach einem der vorhergehenden Ansprüche,
    wobei Schritt c) umfasst: Digitalisieren der Signale unter Verwendung eines Analog-DigitalWandlers (ADC), der zumindest 12 Bit bereitstellt;
    und wobei Schritt iii) umfasst: Bereitstellen der abgeschnittene Werte mit höchstens 8 Bits.
  7. Verfahren nach einem der vorhergehenden Ansprüche,
    wobei Schritt c) umfasst: Digitalisieren der Signale unter Verwendung eines Analog-DigitalWandlers (ADC), der zumindest 12 Bit bereitstellt;
    und wobei Schritt iii) umfasst: Bereitstellen der abgeschnittene Werte mit zumindest 2 Bits.
  8. Verfahren nach Anspruch 2,
    wobei eine Amplitude des symmetrischen Bereichs einen Wert von etwa 75 % bis etwa 85 % des Nominal- oder Durchschnittswerts der Signalamplitude hat.
  9. Verfahren nach Anspruch 2,
    wobei Schritt iii) ferner umfasst: dynamisches Anpassen des symmetrischen Bereichs, sodass eine Amplitude des symmetrischen Bereichs einen Wert von etwa 75 % bis etwa 85 % des Nominal- oder Durchschnittswerts der Signalamplitude hat.
  10. Verfahren nach einem der vorhergehenden Ansprüche,
    wobei das Verfahren ferner das Schätzen oder Berechnen einer Winkelgeschwindigkeit des Ziels umfasst.
  11. Verfahren nach Anspruch 10,
    wobei Schritt c) umfasst: Digitalisieren der Signale unter Verwendung eines Analog-DigitalWandlers (ADC), der zumindest 12 Bit bereitstellt;
    und wobei Schritt iii) umfasst: Bereitstellen der abgeschnittene Werte mit einer Anzahl von Bits in dem Bereich von 2 bis 8, wobei die Anzahl der Bits in Abhängigkeit von der geschätzten Geschwindigkeit dynamisch angepasst wird.
  12. Verfahren nach einem der vorhergehenden Ansprüche,
    wobei der Zeitpunkt des Beginns (Tstart) und der Zeitpunkt des Endes (Tend) jeder jeweiligen Periode basierend auf dem Zeitpunkt ermittelt wird, an dem die DC-kompensierten Signale ihren jeweiligen DC-Offsetwert (DCO, DC1, DC2) überschreiten.
  13. Induktive Positionssensorvorrichtung (320) zur Verwendung in einem induktiven Winkelpositionssensorsystem (300), wobei das induktive Winkelpositionssensorsystem ferner ein Substrat mit zumindest einer Senderspule und einer Vielzahl von Empfängerspulen und ein Ziel umfasst, das in Bezug auf das Substrat beweglich ist;
    wobei die induktive Positionssensorvorrichtung umfasst:
    - eine Vielzahl von Eingängen zum Empfangen einer Vielzahl von Eingangssignalen (S0, S1, S2), die von der Vielzahl von Empfängerspulen erhalten werden;
    - eine Demodulationsschaltung zum Demodulieren und optionalen paarweisen Subtrahieren der Vielzahl von Eingangssignalen (S0, S1, S2) und zum Bereitstellen einer Vielzahl von sinusförmigen Signalen (In0, In1, In2);
    - zumindest einen Analog-Digital-Wandler (ADC) zum Digitalisieren der Vielzahl von sinusförmigen Basisbandsignalen (In0, In1, In2) oder zum Digitalisieren von daraus abgeleiteten paarweisen Differenzsignalen (D01, D12, D20) und zum Bereitstellen eines Satzes von digitalen Signalen (X0, X1, X2);
    eine digitale Verarbeitungsschaltung (326), ausgelegt zum Ausführen von Schritt d) und e) des Verfahrens nach einem der vorhergehenden Ansprüche.
  14. Induktives Positionssensorsystem (300), umfassend:
    - eine induktive Positionssensorvorrichtung (320) nach Anspruch 13;
    - ein Substrat mit zumindest einer Senderspule (TX) und einer Vielzahl von Empfängerspulen (RX1, RX2, RX3);
    - ein Ziel, das in Bezug auf das genannte Substrat beweglich ist.
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